Design and Implementation of Fuzzy Based Person Following Mobile Robot1
Abstract. Tracking a person successfully and following robustly is a significant ability that requires to be overwhelmed by a service robot while it requires completing some human-related tasks. Such capability has desires, which cannot be met pleasingly using conventional numerical process. Most...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English English |
| Published: |
Trans Tech Publications Ltd., Switzerland
2012
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/17624/ http://irep.iium.edu.my/17624/ http://irep.iium.edu.my/17624/1/AMM.151.184_person_following.robot.pdf http://irep.iium.edu.my/17624/2/amir.pdf |
| Summary: | Abstract. Tracking a person successfully and following robustly is a significant ability that requires
to be overwhelmed by a service robot while it requires completing some human-related tasks. Such
capability has desires, which cannot be met pleasingly using conventional numerical process. Most
remarkably, the robot has to stay at a certain safe distance as of the person that is being tracked and
simultaneously be in motion in a smooth way which does not seem to be frightening to the person.
In this research, consequently, a Fuzzy Inference System (FIS) is developed and used as a controller
to provide decisions achieving smooth and safe person-following activities. The Fuzzy system is
made to work in combination with a Optoelectronic (IR) sensor detection algorithm which acquire
the position in using co-ordinate system and the velocity of the person is detected by using
ultrasonic sensor and these are used to generate the Fuzzy Inference System distance and velocity
information necessary for the control process. The simulation and result on this research established
that even though the detection of IR is subject to minor noise and false negatives, the robot will
achieve the smoothness and safety objectives while following its target. An example with a mobile
robot tracking a person demonstrates the performance of our approach. |
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